/* -*- mode: C++ -*- */
/* $Id: camera_info_manager.h 28518 2010-03-31 15:47:24Z pbeeson $ */

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*  Copyright (c) 2010 Jack O'Quin
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*********************************************************************/

#ifndef _CAMERA_INFO_MANAGER_H_
#define _CAMERA_INFO_MANAGER_H_

#include <ros/ros.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/SetCameraInfo.h>

/** @file

    @brief CameraInfo Manager interface

    Provides CameraInfo, handles the SetCameraInfo service requests,
    saves and restores sensor_msgs/CameraInfo data.

    @author Jack O'Quin
 */

class CameraInfoManager
{
 public:

  CameraInfoManager(ros::NodeHandle nh, const std::string &url="");

  /** Returns the current CameraInfo data.
   *
   * The matrices are all zeros, if no calibration was available.
   */
  sensor_msgs::CameraInfo getCameraInfo(void)
  {
    return cam_info_;
  }

 private:

  // private methods
  bool getCalibration(const std::string &url);
  bool getCalibrationFile(const std::string &filename);
  bool saveCalibration(const sensor_msgs::CameraInfo &new_info,
                       const std::string &url);
  bool saveCalibrationFile(const sensor_msgs::CameraInfo &new_info,
                           const std::string &filename);
  bool setCameraInfo(sensor_msgs::SetCameraInfo::Request &req,
                     sensor_msgs::SetCameraInfo::Response &rsp);

  // private data
  ros::NodeHandle nh_;
  sensor_msgs::CameraInfo cam_info_;
  ros::ServiceServer info_service_;
  std::string camera_name_;
  std::string url_;                     // URL for calibration data
};

#endif // _CAMERA_INFO_MANAGER_H_
